| 关节式机械臂的运动分析 |
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| 引用本文： | 钟蜀晖.关节式机械臂的运动分析[J].贵州工业大学学报(自然科学版),1991(1). |
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| 作者姓名： | 钟蜀晖 |
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| 作者单位： | 贵州工学院基础科学部 |
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| 摘 要： | 本文利用四元数对刚体系统进行线运动分析。用这种方法研究多关节机械臂的线运动时,具有方程无奇性、线性程度高等长处。用计算机作数值计算时,利用此方法可节省机时,减小计算误差。
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| 关 键 词： | 四元数 关节式机械臂 运动分析 |
Motion Analysis of Joint Manipulator |
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| Zhong Shuhui.Motion Analysis of Joint Manipulator[J].Journal of Guizhou University of Technology(Natural Science Edition),1991(1). |
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| Authors: | Zhong Shuhui |
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| Institution: | Deparment of Basic Curriculums |
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| Abstract: | Abstract In this paper, a new method for the motion analysis of jointed manipulator is developed from the Quaternions Theory. A kinematic recursion model of the robot is presented. It is easier to obtain the motion equations of open chain robot with this method than others. A PUMA 550 robot is taken as an example to illustrate the model. |
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| Keywords: | quaternions theory jointed manipulator motion analysis |
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